"They tell us that, unlike so much in the modern world, this relationship, the one between Sovereign and people, has grown stronger and deeper with the passage of time."

After the service, the Queen left St Paul's by car to attend a lunch at the Guildhall.

Prince Charles followed his mother on horseback

The Jubilee celebrations will continue in the afternoon with a parade of 20,000 people, to be led by a Hell's Angels motorbike-rider.

It will also included the world's largest, 5,000-strong, gospel choir and a fly-past.

The celebratory mood of Tuesday's pageantry followed a pop concert and fireworks at Buckingham Palace on Monday night.

It was watched by more than a million people on giant screens outside the palace and featured some of the world's greatest rock and pop legends, including Sir Paul McCartney, Eric Clapton, Ozzy Osbourne, Tom Jones, and Will Young.